A General Approach to Coordination Control of Mobile Agents With Motion Constraints

Shiyu Zhao*, Dimos V. Dimarogonas, Zhiyong Sun, Dario Bauso

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

37 Citations (Scopus)

Abstract

This paper proposes a general approach to design convergent coordination control laws for multiagent systems subject to motion constraints. The main contribution of this paper is to prove in a constructive way that a gradient-descent coordination control law designed for single integrators can be easily modified to adapt for various motion constraints such as nonholonomic dynamics, linear/angular velocity saturation, and other path constraints while preserving the convergence of the entire multiagent system. The proposed approach is applicable to a wide range of coordination tasks such as rendezvous and formation control in two and three dimensions. As a special application, the proposed approach solves the problem of distance-based formation control subject to nonholonomic and velocity saturation constraints.

Original languageEnglish
Pages (from-to)1509-1516
Number of pages8
JournalIEEE Transactions on Automatic Control
Volume63
Issue number5
DOIs
Publication statusPublished - May-2018
Externally publishedYes

Keywords

  • coordination control
  • multi-agent systems
  • non-holonomic constraints
  • obstacle avoidance
  • velocity saturation
  • SYSTEMS
  • SATURATION
  • NAVIGATION
  • STABILITY
  • CONSENSUS
  • ROBOTS

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